Abstract

This paper explains the development ofan electric cart that helps
the elderly maintain or improve their physical strength. Unlike commercially
available ones, it has a pedal unit that providessome exercise for
a user in training his lower limbs. An impedance model describes the
feeling of pushingthe pedals. The largest pedal load is determined
based on a pedaling experiment. An $H_{\infty}$ controller isdesigned
for each of the largest pedal load and virtually no load. A control
law, which is based on the concept ofdynamic parallel distributed
compensation, is designed using the rating of perceived exertion of
a driveras a criterion to choose a pedal load between the largest
and almost zero. Five university students andtwelve elderly people
participated experiments to verify the system design and the validity
of the system.

Update

Abstract

English

Chinese

Acknowledgment

This work was supported by Japan Society for the Promotion of Science
(JSPS) KAKENHI (Grant Nos. 18560259, 26350673), and partially by JSPS
KAKENHI (Grant No. 16H02883). This work was also supported by National
Natural Science Foundation of China (Grant Nos. 61473313, 61210011),
Hubei Provincial Natural Science Foundation of China (Grant No. 2015CFA010),
and the 111 Project of China (Grant No. B17040).